83 lines
2.8 KiB
C++
83 lines
2.8 KiB
C++
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/**
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* @file esc_lan9252.cpp
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* @brief LAN9252 EtherCAT ESC 驱动实现。
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*/
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#include "comm/esc_lan9252.h"
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#include "comm/esc_exmc_bus.h"
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#include "sys/config.h"
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#if CONFIG_ETHERCAT_ENABLE
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namespace {
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/* LAN9252 ESC 关键寄存器地址(字节偏移,EXMC 访问) */
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constexpr uint16_t LAN9252_REG_CHIP_ID_L = 0x0000U; /**< 芯片 ID 低 16 位(=0x4321)。 */
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constexpr uint16_t LAN9252_REG_CHIP_ID_H = 0x0002U; /**< 芯片 ID 高 16 位(=0x8765)。 */
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constexpr uint32_t LAN9252_CHIP_ID_VALUE = 0x87654321U; /**< 期望的 32-bit 芯片 ID。 */
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/* PDI 内存基址偏移(实际取决于 LAN9252 PDI 配置,这里为示意值) */
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constexpr uint16_t LAN9252_PDI_BASE_OFFSET = 0x1000U;
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}
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void EscLan9252::init()
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{
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EscExmcBus::init();
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/* TODO: 配置 ESC 中断使能、AL 控制等基本寄存器(留待协议栈集成阶段实现) */
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}
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bool EscLan9252::selfTest()
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{
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const uint16_t id_low = readReg(LAN9252_REG_CHIP_ID_L);
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const uint16_t id_high = readReg(LAN9252_REG_CHIP_ID_H);
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const uint32_t chip_id = ((uint32_t)id_high << 16) | id_low;
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return (chip_id == LAN9252_CHIP_ID_VALUE);
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}
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uint16_t EscLan9252::readReg(uint16_t addr)
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{
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/* ESC 寄存器地址按字节寻址,EXMC 16-bit 访问需要地址左移 1 位 */
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return EscExmcBus::read16((uint32_t)addr << 1U);
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}
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void EscLan9252::writeReg(uint16_t addr, uint16_t val)
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{
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EscExmcBus::write16((uint32_t)addr << 1U, val);
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}
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void EscLan9252::readPdi(uint16_t offset, uint8_t *buf, size_t len)
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{
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if (buf == nullptr || len == 0U) {
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return;
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}
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/* PDI 按 16-bit 读取,非对齐字节需特殊处理(此处简化为按半字读取) */
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const uint32_t exmc_offset = (uint32_t)(LAN9252_PDI_BASE_OFFSET + offset) << 1U;
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const size_t half_count = len / 2U;
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for (size_t i = 0U; i < half_count; ++i) {
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uint16_t w = EscExmcBus::read16(exmc_offset + (uint32_t)(i * 2U));
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buf[i * 2U] = (uint8_t)(w & 0xFFU);
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buf[i * 2U + 1] = (uint8_t)((w >> 8) & 0xFFU);
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}
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/* 处理奇数字节 */
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if ((len & 1U) != 0U) {
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uint16_t w = EscExmcBus::read16(exmc_offset + (uint32_t)(half_count * 2U));
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buf[half_count * 2U] = (uint8_t)(w & 0xFFU);
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}
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}
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void EscLan9252::writePdi(uint16_t offset, const uint8_t *buf, size_t len)
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{
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if (buf == nullptr || len == 0U) {
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return;
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}
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const uint32_t exmc_offset = (uint32_t)(LAN9252_PDI_BASE_OFFSET + offset) << 1U;
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const size_t half_count = len / 2U;
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for (size_t i = 0U; i < half_count; ++i) {
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uint16_t w = (uint16_t)buf[i * 2U] | ((uint16_t)buf[i * 2U + 1] << 8);
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EscExmcBus::write16(exmc_offset + (uint32_t)(i * 2U), w);
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}
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if ((len & 1U) != 0U) {
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EscExmcBus::write16(exmc_offset + (uint32_t)(half_count * 2U), (uint16_t)buf[half_count * 2U]);
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}
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}
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#endif /* CONFIG_ETHERCAT_ENABLE */
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